EP1533890B1 - Motorsteuereinrichtung - Google Patents

Motorsteuereinrichtung Download PDF

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Publication number
EP1533890B1
EP1533890B1 EP03730615.6A EP03730615A EP1533890B1 EP 1533890 B1 EP1533890 B1 EP 1533890B1 EP 03730615 A EP03730615 A EP 03730615A EP 1533890 B1 EP1533890 B1 EP 1533890B1
Authority
EP
European Patent Office
Prior art keywords
command
pattern
motor
speed
control apparatus
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP03730615.6A
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English (en)
French (fr)
Other versions
EP1533890A4 (de
EP1533890A1 (de
Inventor
Takashi c/o Kabushiki K. Yaskawa Denki KITAZAWA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Publication of EP1533890A1 publication Critical patent/EP1533890A1/de
Publication of EP1533890A4 publication Critical patent/EP1533890A4/de
Application granted granted Critical
Publication of EP1533890B1 publication Critical patent/EP1533890B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0077—Characterised by the use of a particular software algorithm
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0031—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control implementing a off line learning phase to determine and store useful data for on-line control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors

Definitions

  • the present invention relates to a motor control apparatus for controlling the driving operation of a motor.
  • a control gain such as a speed loop gain (Kv), a speed loop integral time constant (Ti) or a position loop gain (Kp) of the motor control apparatus, and a torque command filter.
  • Kv speed loop gain
  • Ti speed loop integral time constant
  • Kp position loop gain
  • an analog command or a pulse train command is input as a driving command from an host controller to the motor control apparatus and the torque command of the motor control apparatus or a monitor signal indicative of a position deviation is observed by an external measuring device, and at the same time, regulates the control gain while the motor is operated based on the input command value.
  • the host controller is always required for regulating the control gain in such a conventional motor control apparatus.
  • the control gain is often set during a test run to be carried out before an actual forward run.
  • the control gain of the motor control apparatus cannot be regulated until the operations of all electrical products can be confirmed forwardly. Consequently, a working efficiency is low in the test run.
  • motor control apparatuses have a jog run function capable of manually setting a driving command and can confirm a motor run even if the host controller is not provided as described in Japanese Patent No. 2950149 publication and JP-A-5-324304 publication.
  • an input device such as an operator device is to be always operated in order to use the jog run function, and the rotating direction and moving range of a motor can be confirmed.
  • the motor control apparatus has physical restrictions on the input device. In many cases, therefore, an input operation for regulating a gain and the operation of the jog run cannot be carried out at the same time.
  • EP 1 182 524 A1 discloses a programmable controller comprises a speed pattern generator including speed pattern generator units that respond to input quantities of the amount of movement, speed, acceleration time and deceleration time by calculating a desired speed pattern for output to a servomotor.
  • a desired speed pattern is generated by simultaneously operating any of the speed pattern generator units of the speed pattern generator.
  • the speed pattern provided by the speed pattern generator is output to a console, on which the user can process the speed pattern freely.
  • JP2001352773 discloses a servo controller realizing high performance positioning by performing highly accurate inertia estimation even upon occurrence of a load inertia variation during actual operation and correcting the set constant at a speed control section automatically.
  • An inertia estimation value is determined from a torque command value and a speed command value if the variation of the speed command value is not lower than a specified value and the set constant at a speed control section is corrected automatically based on the inertia estimation value thus determined if the variation of the speed command value is not higher than the specified value.;
  • 'load torque variation' and 'torque current limitation' are detected at the time of operating inertia estimation and the set constant at the speed control section is corrected automatically based on the inertia estimation value before detection.
  • the invention provides a motor control apparatus for controlling a driving operation of a motor by outputting a torque command, comprising the features of claim 1.
  • the command pattern generating means generates a basic operation pattern based on a movement distance Pd, a maximum speed Vx, an acceleration time Ta and a deceleration time Td in the input parameter and repeats the basic operation pattern at a repetitive number of times every waiting time T, thereby setting a continuous run pattern.
  • the basic operation pattern of the run is set by inputting the parameter and the continuous run to be carried out by the repetition of the basic operation pattern is selected depending on the parameter. Consequently, it is possible to continuously generate a driving command in the motor control apparatus without requiring the host controller. Therefore, it is possible to regulate a control gain and a torque command filter without requiring the host controller for generating the driving command.
  • 10 denotes a motor control apparatus
  • 11 denotes a parameter input device
  • 12 denotes an host controller
  • 13 denotes a pulse command processing section
  • 14 denotes a command pattern generating section
  • 15 denotes a command change-over switch
  • 16 denotes a position control section
  • 17 denotes a speed control section.
  • Fig. 1 is a block diagram showing the structure of a motor control apparatus 10 according to an embodiment of the invention.
  • a host controller 12 outputs a pulse train command as a driving command to the motor control apparatus 10.
  • the driving command is input from the host controller 12 to the motor control apparatus 10 according to the embodiment as shown in Fig. 1 , and the motor control apparatus 10 generates and outputs a torque command for controlling the driving operation of a motor based on the input driving command during a forward run.
  • a parameter input device 11 inputs various parameters such as a movement distance Pd, a maximum speed Vx, an acceleration time Ta, a deceleration time Td, a waiting time T, a forward rotating repetition number n, a reverse rotating repetition number m and a forward and reverse rotating repetition number y.
  • the motor control apparatus 10 is constituted by a pulse command processing section 13, a command pattern generating section 14, a command change-over switch 15, a position control section 16 and a speed control section 17 as shown in Fig. 1 .
  • the pulse command processing section 13 converts a pulse train command sent from the host controller 12 into a position command.
  • the command pattern generating section 14 generates a basic operation pattern for operating a motor based on various parameters input through the parameter input device 11, repeats the basic operation pattern at a set number of times to set a continuous run pattern, and generates and outputs a position command for continuously operating the motor based on the continuous run pattern.
  • the command change-over switch 15 selects a position command sent from the pulse command processing section 13 and outputs the position command to the position control section 16 in case of a forward run, and selects a position command generated by the command pattern generating section 14 and outputs the position command to the position control section 16 in the case in which a control gain is to be regulated during a test run.
  • the position control section 16 generates a speed command based on the position command input through the change-over switch 15.
  • the speed control section 17 generates a torque command for driving the motor based on the speed command sent from the position control section 16.
  • the command pattern generating section 14 generates an operation pattern based on a movement distance Pd, a waiting time Tw, an acceleration time Ta and a deceleration time Td shown in Fig. 2 as a basic operation pattern P1 in a forward rotating direction and an operation pattern based on a movement distance Pd, a waiting time Tw, an acceleration time Ta and a deceleration time Td shown in Fig. 3 as a basic operation pattern P2 in a reverse rotating direction. Then, the command pattern generating section 14 sets, as continuous run patterns, a continuous run pattern P1n for running the basic operation pattern P1 at a repetition number n as shown in Fig.
  • a continuous run pattern P2m for running the operation pattern P2 at a repetition number m as shown in Fig. 5
  • a continuous run pattern P2y for running the operation pattern P2 after the operation pattern P1 and carrying out this run at a repetition number y as shown in Fig. 6 .
  • the command pattern generating section 14 generates a position command based on the continuous run patterns P1n, P2m and P2y and inputs the position command to the position control section 16 through the command change-over switch 15.
  • the basic operation pattern P1 and the basic operation pattern P2 described above are converted into a command pulse frequency specified by the movement distance Pd and the maximum speed Vx and the command pulse frequency is set to be a command value, and the command value is increased/decreased in sampling for each of the acceleration and deceleration times Ta and Td. Consequently, the basic operation patterns P1 and P2 having a trapezoidal wave or a triangular wave are created and the basic operation patterns P1 and P2 are executed at a set continuous time n, m or y. Thus, it is possible to easily generate a continuous driving command in place of a section to which the position command is input from the outside of the motor control apparatus.
  • the parameter is input to set the basic operation pattern of the run and the continuous run to be carried out by the repetition of the basic operation pattern is selected based on the parameter.
  • the command pattern generating section 14 serves to set the patterns shown in Figs. 4 to 6 to be the continuous run operation pattern in the motor control apparatus according to the embodiment described above
  • the invention is not restricted to such a case but the basic operation patterns shown in Figs. 2 and 3 may be combined with each other to generate various continuous operation patterns.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Databases & Information Systems (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (2)

  1. Motorsteuervorrichtung (10) zum Steuern eines Fahrbetriebes eines Motors durch Ausgeben eines Drehmomentbefehls, umfassend:
    einen Impulsbefehl-Verarbeitungsabschnitt (13) zum Empfangen eines Impulskettenbefehls von einer Host-Steuerung (12) und zum Konvertieren desselben in einen ersten Positionsbefehl,
    ein Befehlsmustererzeugungsmittel (14) zum Erzeugen eines Grundbetriebsmusters zum Betreiben des Motors basierend auf einem Eingangsparameter, Wiederholen des Grundbetriebsmusters mit einer festgelegten Anzahl von Malen, um ein kontinuierliches Fahrmuster festzulegen, und Erzeugen eines zweiten Positionsbefehls zum kontinuierlichen Betreiben des Motors basierend auf dem kontinuierlichen Fahrmuster;
    einen Wechselschalter (15) zum Auswählen von entweder dem ersten oder dem zweiten Positionsbefehl, der von dem Impulsbefehl-Verarbeitungsabschnitt (13) oder dem Befehlsmustererzeugungsmittel (14) bereitgestellt wird;
    ein Positionssteuerungsmittel (16) zum Erzeugen eines Geschwindigkeitsbefehls basierend auf dem ausgewählten Positionsbefehl, der von dem Befehlsmustererzeugungsmittel (14) erzeugt wird; und
    ein Geschwindigkeitssteuerungsmittel (17) zum Erzeugen eines Drehmomentbefehls zum Antreiben des Motors basierend auf dem Geschwindigkeitsbefehl, der von dem Positionssteuerungsmittel (16) gesendet wird
  2. Motorsteuervorrichtung nach Anspruch 1, wobei das Befehlsmusterzeugungsmittel (14) einen Grundbetriebsmuster basierend auf einer Bewegungsdistanz Pd, einer maximalen Geschwindigkeit Vx, einer Beschleunigungszeit Ta und einer Abbremszeit Td in dem Eingangsparameter erzeugt und das Grundbetriebsmuster eine wiederholte Anzahl von Malen zu jeder Wartezeit T durchführt und dadurch ein kontinuierliches Fahrmuster festlegt.
EP03730615.6A 2002-06-19 2003-05-23 Motorsteuereinrichtung Expired - Lifetime EP1533890B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2002178403A JP4150892B2 (ja) 2002-06-19 2002-06-19 電動機制御装置
JP2002178403 2002-06-19
PCT/JP2003/006480 WO2004001946A1 (ja) 2002-06-19 2003-05-23 電動機制御装置

Publications (3)

Publication Number Publication Date
EP1533890A1 EP1533890A1 (de) 2005-05-25
EP1533890A4 EP1533890A4 (de) 2017-03-29
EP1533890B1 true EP1533890B1 (de) 2018-07-04

Family

ID=29996521

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03730615.6A Expired - Lifetime EP1533890B1 (de) 2002-06-19 2003-05-23 Motorsteuereinrichtung

Country Status (7)

Country Link
US (1) US7023153B2 (de)
EP (1) EP1533890B1 (de)
JP (1) JP4150892B2 (de)
KR (1) KR100799417B1 (de)
CN (1) CN1321494C (de)
TW (1) TWI266160B (de)
WO (1) WO2004001946A1 (de)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4745798B2 (ja) * 2005-11-11 2011-08-10 株式会社日立産機システム 電動機制御装置の自動調整法および装置
US9501085B2 (en) * 2007-02-01 2016-11-22 Keithley Instruments, Llc Method and apparatus for pulse generation
JP4327880B2 (ja) * 2008-01-04 2009-09-09 ファナック株式会社 ゲイン自動調整機能を備えたサーボモータ制御装置
TWI404322B (zh) 2009-04-14 2013-08-01 Mitsubishi Electric Corp 馬達控制裝置
JP4807641B1 (ja) 2010-06-07 2011-11-02 株式会社安川電機 モータ位置制御装置
CN104035325B (zh) * 2014-05-23 2016-07-27 南车株洲电力机车研究所有限公司 一种防空转防滑行保护阈值确定方法
JP6338948B2 (ja) * 2014-07-04 2018-06-06 株式会社日立産機システム 電動機制御装置及びそれに用いる制御パラメータ自動調整方法
CN106483990B (zh) * 2016-12-20 2019-06-14 南京埃斯顿自动化股份有限公司 一种电机控制方法

Family Cites Families (13)

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Publication number Priority date Publication date Assignee Title
US3785463A (en) * 1972-05-09 1974-01-15 Reliance Electric Co Final stopping control
US4434874A (en) * 1982-03-10 1984-03-06 Westinghouse Electric Corp. Elevator system
US4470482A (en) * 1982-12-02 1984-09-11 Westinghouse Electric Corp. Speed pattern generator for an elevator car
JPS59222089A (ja) * 1983-05-31 1984-12-13 Sharp Corp 直流モ−タの位置決め制御システム
JP2948887B2 (ja) * 1990-09-07 1999-09-13 株式会社日立製作所 電動機の速度制御装置
JPH05324304A (ja) 1992-05-22 1993-12-07 Hitachi Ltd 制御プログラム修正方法および装置
JP2950149B2 (ja) * 1994-05-30 1999-09-20 株式会社デンソー オートチューニングコントローラ
JP3170151B2 (ja) * 1994-08-24 2001-05-28 株式会社東芝 エレベータの制御装置
US5574351A (en) * 1994-10-21 1996-11-12 Pitney Bowes Inc. Method and apparatus for control of stepper motors
KR0183837B1 (ko) * 1996-04-16 1999-05-15 이대원 전동기의 속도제어장치
JPH10254550A (ja) * 1997-03-12 1998-09-25 Yaskawa Electric Corp 位置制御装置
JP2000315106A (ja) * 1999-05-06 2000-11-14 Yaskawa Electric Corp プログラマブルコントローラ
JP3757101B2 (ja) * 2000-06-09 2006-03-22 株式会社日立産機システム オンラインオートチューニングサーボ制御装置

Non-Patent Citations (1)

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Also Published As

Publication number Publication date
US7023153B2 (en) 2006-04-04
JP2004023946A (ja) 2004-01-22
EP1533890A4 (de) 2017-03-29
WO2004001946A1 (ja) 2003-12-31
CN1663106A (zh) 2005-08-31
JP4150892B2 (ja) 2008-09-17
EP1533890A1 (de) 2005-05-25
CN1321494C (zh) 2007-06-13
TWI266160B (en) 2006-11-11
KR20050012734A (ko) 2005-02-02
US20050218847A1 (en) 2005-10-06
TW200401963A (en) 2004-02-01
KR100799417B1 (ko) 2008-01-30

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